#include <base_local_planner/trajectory_planner_ros.h>#include <boost/tokenizer.hpp>#include <Eigen/Core>#include <cmath>#include <ros/console.h>#include <pluginlib/class_list_macros.hpp>#include <base_local_planner/goal_functions.h>#include <nav_msgs/Path.h>#include <nav_core/parameter_magic.h>#include <tf2/utils.h>
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